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arXiv · 2308.15177

Enhancements on a saturated control for stabilizing a quadcopter: adaptive and robustness analysis in the flat output space

Huu-Thinh Do·Franco Blanchini·Ionela Prodan
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Abstract

This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here resides in the adaptivity of the controller's gain to enhance the system's performance without exciting its parasitic dynamics and avoid lavishing the input actuation with excessively high gain parameters. Moreover, we provide a thorough robustness analysis of the proposed controller when additive disturbances are affecting the system behavior. Finally, simulation and experimental tests validate the proposed controller.

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Huu-Thinh Do, Franco Blanchini, Ionela Prodan. 2023-08-29. Enhancements on a saturated control for stabilizing a quadcopter: adaptive and robustness analysis in the flat output space. https://arxiv.org/abs/2308.15177

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